zhili_xinche714_03.zip

#include 
#include “common.h“
#include “include.h“
#include “Image.h“


int white[60]img_l[60]img_r[60];
extern int middle;
int s_mid;
int middle_last;
extern int witwidth;
extern uint8 img[CAMERA_H][CAMERA_W];
extern int distance_middleimgrimgl;
extern int flag_stop;

int xiuzheng[60]={40404039393938383837
                  37373636353534343332
                  32313131303029292828
                  27272626252524242323
                  22222121202019191817
                  17161615141414141414
                };

///////////////////定义行列60*80//////////////////
#define ROW    60 
#define COLUMN 80 
//标志位
int stopcar = 0;
extern int errerr_last;
uint8 rowcolcnt = 0;
int sumR_flag=0L_flag=0wit_flag=0stop_flag=0 variance = 0variance_return ;
int now_go=0;
int obflag_r=0obflag_l=0;              //障碍物出现标志
//作用： 近场的数据滤波，即将孤立的噪声去除，即两个黑点之间是黑点，两个白点之间是白点
//改变全局变量： img[ROW][COLUMN]
//输入： 无
//输出： 无
void nearlvbo（）
{
	int ij;
	for（i=ROW-1;i>0;i--）
	{
		for（j=1;j			if（img[i][j-1]==255&&img[i][j+1]==255&&img[i][j]==0）
				img[i][j]=255;
			else if（img[i][j-1]==0&&img[i][j+1]==0&&img[i][j]==255）
				img[i][j]=0;
	}
}
///////////////////////
//修正函数避免数组溢出
////////////////////////
int sum_border（int sum）
{
    if（sum<1）
        sum=1;
    else if（sum>78）
        sum=78;
    return sum;
}

//远场发现障碍物
//发现在直道上双边线都在
/*
int find_far（）
{
    int ob=0count_o=0;//计数速减次数
    R_flag=0; L_flag=0;//obflag_l=0;obflag_r=0;
    
    for（row=30;row>27;row--）
    {
      for（col = 40; col<79; col++ ）         //右边界255为白，0为黑
      {
            if（（img[row][col-1] == 255）&&（img[row][col-2]==255）&&（img[row][col+1]==0）&&（img[row][col+2]==0））
             {                     
                 img_R =col;                         
                 R_flag=1;               
                 break;                             
             }
      }
      for（col = 40; col>1; col-- ）            //左边界
      {
            if（（img[row][col+1] == 255）&&（img[row][col+2]==255）&&（img[row][col-1]==0）&&（img[row][col-2]==0））
            {
                  img_L =col;
                  L_flag=1;
                  break;
            }
      }

      if（R_flag==1 && L_flag==1）
      { 
          sum += （img_R+img_L）/2;
          count_o++;
             
          if（ （（img_R-img_L）>20） && （（img_R-img_L）<40） ）
                ob++;
                sum /= count_o; 
                
                if（ob >= 2）
                {
                    if（sum>40）
                    {
                        obflag_l = 1;
                        obflag_r = 0;
                    }else 
                    {
                        obflag_r = 1;
                        obflag_l = 0;
                    }
                    
                    break;
                }   
      }
      R_flag=0;L_

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2018-01-23 21:44  zhili_xinche714_03
     目录           0  2017-07-14 11:17  zhili_xinche714_03zhili_xinche714_02
     目录           0  2017-07-13 11:36  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01
     目录           0  2017-07-14 22:45  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713
     目录           0  2017-07-14 22:40  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713App
     文件       18010  2018-01-23 21:46  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713AppImage.c
     文件         387  2017-07-14 03:17  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713AppImage.h
     目录           0  2017-07-09 11:12  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713AppInc
     文件        1522  2015-03-24 12:03  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713AppIncinclude.h
     文件        4397  2017-07-09 11:12  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713AppIncMK60_conf.h
     文件         914  2014-10-06 04:08  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713AppIncMK60_it.h
     文件        5992  2017-03-19 12:49  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713AppIncPORT_cfg.h
     文件       17931  2018-01-23 21:46  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713Appmain.c
     文件          59  2017-07-01 22:23  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713Appmain.h
     文件       11533  2014-10-02 15:24  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713AppMK60_conf.c
     文件         463  2014-10-06 04:08  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713AppMK60_it.c
     目录           0  2017-07-08 15:45  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713Board
     目录           0  2017-07-09 11:11  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713Boardinc
     文件         661  2015-01-26 13:58  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713BoardincVCAN_ASCII.h
     文件        2805  2014-09-21 22:19  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713BoardincVCAN_BMP.h
     文件        1765  2015-04-01 22:10  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713BoardincVCAN_camera.h
     文件         943  2015-03-24 12:36  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713BoardincVCAN_computer.h
     文件         209  2014-09-21 22:19  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713Boardincvcan_img2sd.h
     文件        2087  2014-10-09 01:07  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713BoardincVCAN_key.h
     文件         336  2014-09-21 22:19  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713BoardincVCAN_key_event.h
     文件        5486  2015-03-30 13:28  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713BoardincVCAN_LCD.h
     文件         959  2014-10-24 15:29  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713BoardincVCAN_LCD_CH.h
     文件        2100  2017-07-09 11:11  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713BoardincVCAN_LCD_ILI9341.h
     文件        4390  2014-10-02 15:27  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713BoardincVCAN_LCD_ST7735R.h
     文件        4390  2014-10-02 15:27  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713BoardincVCAN_LCD_ST7735S.h
     文件         962  2014-10-02 15:27  zhili_xinche714_03zhili_xinche714_02zhili_xinche713_01zhili_xinche713BoardincVCAN_LED.H
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